/**
 * ESP32 position motion control example with magnetic sensor
 */
#include <SimpleFOC.h>

// SPI Magnetic sensor instance (AS5047U example)
// MISO 12
// MOSI 9
// SCK 14
// magnetic sensor instance - SPI
MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, 10);

// I2C Magnetic sensor instance (AS5600 example)
// make sure to use the pull-ups!!
// SDA 21
// SCL 22
// magnetic sensor instance - I2C
//MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);

// Analog output Magnetic sensor instance (AS5600)
// MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);

// Motor instance
BLDCMotor motor = BLDCMotor(11);
BLDCDriver3PWM driver = BLDCDriver3PWM(25, 26, 27, 7);


// angle set point variable
float target_angle = 0;
// instantiate the commander
Commander command = Commander(Serial);

void doTarget(char *cmd)
{ command.scalar(&target_angle, cmd); }

void setup()
{

    // initialise magnetic sensor hardware
    sensor.init();
    // link the motor to the sensor
    motor.linkSensor(&sensor);

    // driver config
    // power supply voltage [V]
    driver.voltage_power_supply = 12;
    driver.init();
    // link the motor and the driver
    motor.linkDriver(&driver);

    // choose FOC modulation (optional)
    motor.foc_modulation = FOCModulationType::SpaceVectorPWM;

    // set motion control loop to be used
    motor.controller = MotionControlType::angle;

    // contoller configuration
    // default parameters in defaults.h

    // velocity PI controller parameters
    motor.PID_velocity.P = 0.2;
    motor.PID_velocity.I = 20;
    // maximal voltage to be set to the motor
    motor.voltage_limit = 6;

    // velocity low pass filtering time constant
    // the lower the less filtered
    motor.LPF_velocity.Tf = 0.01;

    // angle P controller
    motor.P_angle.P = 20;
    // maximal velocity of the position control
    motor.velocity_limit = 40;

    // use monitoring with serial
    Serial.begin(115200);
    // comment out if not needed
    motor.useMonitoring(Serial);


    // initialize motor
    motor.init();
    // align sensor and start FOC
    motor.initFOC();

    // add target command T
    command.add('T', doTarget, "target angle");

    Serial.println(F("Motor ready."));
    Serial.println(F("Set the target angle using serial terminal:"));
    _delay(1000);
}

// angle set point variable
float target_angle = 0;

void loop()
{

    // main FOC algorithm function
    // the faster you run this function the better
    // Arduino UNO loop  ~1kHz
    // Bluepill loop ~10kHz
    motor.loopFOC();

    // Motion control function
    // velocity, position or voltage (defined in motor.controller)
    // this function can be run at much lower frequency than loopFOC() function
    // You can also use motor.move() and set the motor.target in the code
    motor.move(target_angle);


    // function intended to be used with serial plotter to monitor motor variables
    // significantly slowing the execution down!!!!
    // motor.monitor();

    // user communication
    command.run();
}